Omron NX701-1 User Manual

9-79
9 Motion Control Functions
NJ/NX-series CPU Unit Motion Control User’s Manual (W507)
9-8 Other Functions
9
9-8-9 In-position Check
Refer to the NX-series Position Interface Units User’s Manual (Cat. No. W524) for the differences when
you use NX-series Pulse Output Units.
You can check to see if the actual current position has reached the specified range for the target posi-
tion during positioning or homing. After command output of the target position is completed, positioning
is considered to be finished when the difference between the target position and the actual current posi-
tion is within the in-position range. An instruction error occurs if the position is not within the in-position
within the in-position check time.
 Axis Parameters That Are Related to In-position Checks
You can set the check conditions for the in-position check by setting the appropriate axis parame-
ters. Set the in-position check time if you want to start any of the following operations only after con-
firming that axes are in position.
You can use the axis settings of the Sysmac Studio, the MC_Write (Write MC Setting) instruction, or
the MC_WriteAxisParameter (Write Axis Parameters) instruction to set the above axis parameters.
Additional Information
• The in-position check is processed by the MC Function Module. The function in the Servo
Drive is not used.
• Do not set an in-position check time if you want to start the next operation as quickly as possi-
ble without waiting for positioning to finish.
9-8-9 In-position Check
Parameter name Function Setting range Default
In-position Range Set the in-position width.
(Unit: command units)
Non-negative long
reals
10
In-position Check
Time
Set the in-position check time in milliseconds.
Set 0 to check for the end of positioning only
when you define the home position during
homing and not check positioning at other
times.
(Unit: ms)
0 to 10,000 0
In-position Range
The following error (absolute
value) is monitored after
positioning finishes.
If the following error is within
the in-position range,
positioning is considered
finished.
Positioning Monitoring Time
An In-position Check Time Exceeded error will occur if the in-
position status is not reached within the set time after the completion
of a command (after the command has been executed).
Time
Actual velocity
Command velocity
Time
Velocity
|Following error|

Omron NX701-1 Specifications

General

Brand	Omron
Model	NX701-1
Category	Controller
Language	English